NL2015891B1 - System and method for transfer of cargo and/or personnel. - Google Patents
System and method for transfer of cargo and/or personnel. Download PDFInfo
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- NL2015891B1 NL2015891B1 NL2015891A NL2015891A NL2015891B1 NL 2015891 B1 NL2015891 B1 NL 2015891B1 NL 2015891 A NL2015891 A NL 2015891A NL 2015891 A NL2015891 A NL 2015891A NL 2015891 B1 NL2015891 B1 NL 2015891B1
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- gangway
- load
- vessel
- distal end
- mode
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/14—Arrangement of ship-based loading or unloading equipment for cargo or passengers of ramps, gangways or outboard ladders ; Pilot lifts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/30—Arrangement of ship-based loading or unloading equipment for transfer at sea between ships or between ships and off-shore structures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
- B66F7/16—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by one or more hydraulic or pneumatic jacks
- B66F7/20—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by one or more hydraulic or pneumatic jacks by several jacks with means for maintaining the platforms horizontal during movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
- B63B2017/0072—Seaway compensators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/14—Arrangement of ship-based loading or unloading equipment for cargo or passengers of ramps, gangways or outboard ladders ; Pilot lifts
- B63B2027/141—Arrangement of ship-based loading or unloading equipment for cargo or passengers of ramps, gangways or outboard ladders ; Pilot lifts telescopically extendable
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
Vessel with a motion compensation system, comprising a support frame and a gangway pivotably connected to the frame via a proximal end of the gangway, wherein the gangway has a distal end spaced apart from the proximal end in a longitudinal direction of the gangway, wherein the gangway is provided with a walking surface extending in the longitudinal direction between the proximal and distal end and wherein at least one actuator is provided for pivoting the gangway relative to the frame, characterized in that the system is further provided with a hoisting assembly, comprising at least a load connecting element such as a hook or clamp, supported from the distal end of the gangway, for connecting to a load, such that the load can be lifted and transferred hanging from the gangway.
Description
Title: System and method for transfer of cargo and/or personnel
The invention relates to a method and apparatus for transferring loads between a moving vessel and a transfer area spaced apart from said vessel. The invention further relates to a method and apparatus for transferring loads from a ship to an off shore construction or from an off shore construction to a ship. NL 1027103 discloses a vessel with a system for transferring personnel from the vessel to for example an off shore construction or vice versa. The system comprises a platform, such as a Stewart platform that is movable relative to the deck of the vessel, controlled such that the system compensates for the movements of the ship, such that the platform is kept substantially stationary relative to the target area at the off shore construction. A gangway is connected to the platform to bridge the gap between the platform and the target area. The gangway can pivot relative to the platform for compensating angular changes. Such systems are known under the tradename Ampelmann® and are marketed and used by Ampelmann BV, Delft, The Netherlands. WO2012161565 discloses a crane supported by a base which is motion compensated, such that a load carried by the crane can be kept relatively stable when a vessel supporting the crane is moving, for example due to waves.
These crane constructions are complex in construction and use. Moreover, with these cranes keeping a load at the end of the hoist line stable during transfer is difficult, especially when the ship is subject to wave movements, and proper positioning of a load at the target area is difficult. Moreover this runs the risk of damaging the load, the ship and/or the off shore construction due to insufficiently controlled movements.
Moreover the extension of the gangway in the known Ampelmann system makes the gangway more complex and heavy, which means that the movements of the platform require more energy and the responsiveness of the platform may decrease. Furthermore, folding out and in of the extension is time consuming and requires ample space.
There is a need for an improved method and system for transferring loads to an off shore construction or similar target area from a vessel or vice versa. An aim of the present disclosure is to provide an alternative load transfer system and method.
In an aspect the disclosure can be characterized by a vessel with a motion compensation system, comprising a support frame and a gangway pivotably connected to the frame via a proximal end of the gangway. The gangway has a distal end spaced apart from the proximal end in a longitudinal direction of the gangway. The gangway is provided with a walking surface extending in the longitudinal direction between the proximal and distal end. At least one actuator is provided for pivoting the gangway relative to the frame. According to the disclosure the system is further provided with a hoisting assembly, comprising at least a load connecting element such as a hook or clamp, supported from the distal end of the gangway, for connecting to a load, such that the load can be lifted and transferred hanging from the gangway.
In an aspect the disclosure can be characterized by a vessel with a motion compensation system, comprising a support frame and a gangway pivotably connected to the frame via a proximal end of the gangway. The gangway has a distal end spaced apart from the proximal end in a longitudinal direction of the gangway, wherein the gangway is provided with a walking surface extending in the longitudinal direction between the proximal and distal end. At least one actuator is provided for pivoting the gangway relative to the frame. The system is further provided with a hoisting assembly, comprising at least a line supported by a guide element near the distal end, the line provided with a connecting element for connecting to a load. A winch system is provided for the line, such that in use a load can be hoisted with the system using the line and the gangway as hoisting device.
The motion compensation system can be any system suitable for compensating for motions of the vessel relative to for example a target area to which or from which loads and/or personnel has to be transferred. Such motion compensating system can for example be based on a system according to NL 1027103 or according to WO2012161565 or as an Ampelmann® system as discussed.
The motion compensating system can be provided with at least one at least partly passive support element, for example as described in W02007/050080, for furnishing during use a pressure on the support frame or platform, directly or indirectly, for at least partly bearing it’s weight. In embodiments each of the actuators supporting the support frame can be provided with such at least partly passive support element, for example a pneumatic and/or hydraulic and/or (electro)magnetic support element. The or each support element can have a support direction substantially parallel to a direction of elongation or retraction of an actuator to which the element is associated, such as for example a linear actuator. The actuators can for example be rams, piston-cylinder systems, linear motors or the like.
In a vessel according to the present disclosure the motion compensating system comprises or supports at least a gangway which can be used not only for transfer of personnel but also for hoisting and transfer of loads, or a crane which cannot only be used for hoisting and transferring loads but also for transferring personnel walking over a walking surface provided on and/or in a boom of the crane. A winch can be provided, preferably supported by the gangway or boom, for winding and unwinding a line supporting the load connecting element. The line can extend in the longitudinal direction of the gangway or boom, below the walking surface and/or through and/or along a side rail of the gangway or boom. Such side rail can be a side guard for security of personnel passing over the walking surface. The winch could alternatively be mounted on the support frame.
Preferably the system comprises a control unit and a drive system for driving the system in a personnel transfer mode and in a cargo transfer mode. In the personnel transfer mode the gangway, especially the distal end thereof or the distal end of the crane boom is brought into close proximity and preferably connected to a target area, such that personnel can safely walk over the walking surface to and from the target area. In the cargo transfer mode the system can be driven such that a load formed by cargo can be picked up from the deck or a loading station of the vessel and transferred to the target area or vice versa, hanging from the line. The cargo transfer mode can comprise a connecting and/or disconnecting mode and a load transfer mode. In the connecting and/or disconnecting mode the motion compensating system can be driven such that the distal end of the gangway or crane boom is kept at a substantially fixed distance from a deck or other surface on which a base of the motion compensating system is supported. This allows easy connecting and disconnecting of the load connecting element to or from a load. Moreover this limits or even prevents relative movement of the l oad to said deck other than in a vertical direction during initial hoisting of the load off said deck. Preferably in the connecting and/or disconnecting mode the motion compensating system is driven in five degrees of freedom, whereas in the load transfer mode the system is driven in at least six degrees of freedom .
In this description six degrees of freedom of the motion compensating system has to be understood as at least meaning that the support frame can be driven by the actuators in six degrees of freedom, including heave (up and down), sway (right and left), surge (forward and backward), pitch, roll and yaw. In relation to a vessel forward and backward should be understood as towards and away from the bow of the vessel respectively, along a straight, horizontal line extending in longitudinal direction of the vessel between bow and stern, commonly referred to as a longitudinal axis of the vessel, Up and down could be considered along a straight, vertical line or vertical axis. Left and right could be considered to opposite sides of the vessel, when viewed from the stern to the bow, along a straight, horizontal line or lateral axis. Yaw, roll and pitch can be the common rotational movements along said three axis. This means that in a fully motion controlled mode the support frame can be held in a substantially stationary position relative to at least a fixed object in the surrounding area, such as a target area of an off shore construction, even when the vessel supporting the system moves in any combination of heave, sway, surge, pitch, roll and yaw.
In embodiments the gangway or boom can be extendable and/or retractable in a longitudinal direction, actively driven or passively, providing for a further possibility of compensating for relative movements of the support frame cq vessel and the target area. In embodiments to this end at least one actuator can be provided for extending and/or retracting the gangway or hoorn in said longitudinal direction, for example a hydraulic and/or pneumatic and/or electric and/or electro-magnetic drive.
In embodiments at least one actuator can be provided, for example between the support frame and the gangway or boom, for pivoting the gangway or boom during hoisting and/or transfer of a load,
In embodiments the system is designed such that a distal end of the gangway or boom can be pushed against the target area, such that it is kept more secure on the target area, even if the gangway or boom is moving relative to the target area and/or support frame. In embodiments the distal end can be provided with sensors, for example a load cell, which can register that it is resting on or even pushed against the target area and/or whether the gangway or boom is brought into a position for transfer of personnel from or to the target area. This will enhance safety of the system. Moreover sensors, such as a load sensor can be provide for measuring a load on the gangway or boom, in order to register the load and prevent overloading of the system.
In embodiments a vessel according to the disclosure can comprise a control unit, provided for moving the motion compensation system in a first mode, in which the support frame is kept substantially in a predetermined position relative to a horizontal plane, substantially irrespective of vessel movements, and preferably in a second mode in which the gangway is kept substantially in a vertical plane defined by the longitudinal direction of the gangway and an actual or imaginary line extending vertically down from the distal end of the gangway to a load connected to the gangway or to be connected to the gangway, especially a hoisting line, when the load is supported at least partly by the vessel or by a target area spaced apart from the vessel. In such first mode movement of the load relative to the distal end of the gangway or boom in a direction other than vertically (i.e. towards or away from said distal end) can be limited or even prevented.
In embodiments a vessel according to the disclosure can be provided with or connected to a control unit for driving the motion compensation system in a first mode in which the frame is driven in at least six degrees of freedom and in a second mode in which the frame is driven in five degrees of freedom or less.
In embodiments a vessel according to the disclosure can comprise a control unit for driving the motion compensation system and especially the gangway between a position in which the distal end of the gangway is in a position close to a loading station at a deck of the vessel, at or above a hoisting point and/or a center of gravity of said load for connecting and/or disconnecting the connecting element to or from said load, and a second position in which the distal end is in a position spaced further away from said loading station, wherein the control unit is designed for moving the distal end between the first and second position such that the distal end is kept substantially vertically directly above said hoisting point with the line connected to said hoisting point and/or the center of gravity of the load, at least when the load is at least partly supported by said loading station and/or deck.
In embodiments the motion support system can be provided with a safety provision which prevents personnel from entering the walking surface when the gangway or boom is used in a cargo transfer mode, i.e. for hoisting and/or transferring a load. Such safety provision can for example comprise a guard near the proximal end preventing use of the walkway, i.e. the walking surface when the motion control system and especially the gangway is in a mode for hoisting loads using the gangway and/or the motion control system can be provided with at least one sensory system detecting movement on the gangway or on the support frame in the direction of the gangway, for example by personnel, wherein a control unit is provided for preventing use of the motion compensation system in a mode for hoisting loads using the gangway when such movement is detected by said sensory system and/or a control unit can be provided which controls the gangway movement at least in a cargo transfer mode during which the gangway is used for hoisting a load, such that when a movement is detected at the gangway on or approaching the walking surface on the gangway movement of the gangway is blocked.
In embodiments the support frame can comprise a subframe to which the gangway is pivotably connected. The subframe can be rotatable around an axis, for example an axis extending substantially perpendicular to a main plane of the support frame, which main plane can for example be defined generally by pivoting points in which actuators for moving the support frame are connected to said frame.
In embodiments the support frame can be carried by at least three actuators, wherein the support frame supports a mast along which a subframe is movable in an up and down direction, and wherein the proximal end of the gangway is connected to the subframe.
In an aspect a vessel according to the description can be characterized by a motion compensation system, comprising a support frame and a crane mounted to and/or supported by the support frame. The crane comprises a boom with a proximal end and a distal end and a walking surface is provided on and/or in the boom, extending between the proximal and the distal end. Guardrails may be provided to opposite longitudinal sides of the walking surface. A load support system can be provided at the distal end of the gangway, which can support a load placed on said support system.
In embodiments at least one sensor can be provided for determining a position of at least one load and/or a load carrier on said gangway, especially a hoisting line. One or more threshold values are set in a control unit, which is provided for blocking transfer of such load when at least one threshold value is exceeded, indicating improper loading of the gangway and/or wherein the system comprises at least one sensor for sensing presence and/or weight and/or weight distribution of a load carried by said gangway, wherein one or more threshold values are set in a control unit, which is provided for blocking transfer of such load when at least one threshold value is exceeded. This can prevent or at least limit the risk of overloading the gangway cq boom. A drive system for the motion compensating system can be controlled electronically, such that the position of the support is controlled by for example pneumatic, hydraulic and/or electrical actuators, driven by a control system based on sensor signals which for example measure positions, movements and/or orientations and/or changes in such positions, movements and/or orientations, as well as a signal from a mode changing device.
The disclosure is also directed to a motion compensating system for a vessel as described.
The disclosure is further directed to a method for transferring loads to and from a vessel, which in an aspect can be characterized by supporting a load by a connecting element extending from a distal end of a gangway, which gangway has an opposite proximal end connected to a movable support frame of a motion compensating system, wherein the support frame and/or the gangway and/or the load connecting element are driven such that a load supported by said load connecting element is moved through a space, wherein during such movement a longitudinal direction of the gangway and an actual or imaginary line connecting the load to the gangway are kept in a substantially vertical plane.
During transfer of the load in such method, when the weight of the load is fully carried by the gangway, gravity may force the load into a position directly below the distal end of the gangway. In a position wherein the weight of the load is at least partially carried by a deck of the vessel or by a loading station provided on said vessel, the distal end of the gangway can be kept in a stationary position vertically above the load by activating the motion compensation system in a connecting and/or disconnecting mode, actively compensating for at least some degrees of freedom of the vessel, especially five degrees of freedom, not all six. In such mode a height of the distal end of the gangway can be kept at a constant vertical distance above said load cq above said deck, the gangway extending in a substantially vertical plane, preferably at an angle relative to a vertical line. This will ease connecting and/or disconnecting the load and moreover may limit or even avoid motion of the load in any direction other than upward when lifting the load using the gangway. Such lifting can for example be achieved by moving the gangway up and/or tilting the gangway and/or winching a line in.
In embodiments a load connecting element can be connected to a hoisting line, supported by the distal end of the gangway or boom. In embodiments the load connecting element can be connected directly to the gangway or boom, for example by a pivot or joint, i.e. without use of a line, such that the load can be suspended directly from the gangway or boom.
In embodiments the load is supported by a hoisting line carrying the load connecting element, the line being guided by at least one guide element provided at the distal end of the gangway, wherein said vertical plane is defined by the longitudinal direction of the gangway and said hoisting line.
In embodiments of a method of the disclosure a load supported on a deck or a loading station of the vessel is connected to the load connecting element in a connecting mode of the motion compensating system, or is disconnected from the load connecting element in a disconnecting mode of the motion compensating system, during which connecting and/or disconnecting mode the motion compensating system is driven such that the load connecting element and/or the distal end of the gangway is kept in a vertical orientation above the load. Preferably the distal end is kept vertically above a center of mass of the load. In advantageous embodiments the distal end of the gangway or at least a line support over which a hoisting line is guided at said distal end is kept substantially at a fixed height above the load and/or the deck. When the load is supported by the load connecting element the motion compensating system can then be driven in a load or cargo transfer mode, wherein the motion compensating system is driven with at least one more degree of freedom than in the connecting mode and/or the disconnecting mode.
In a first mode, such as a connecting or disconnecting mode, the supporting frame can be moved by the movement compensating system such that the vertical position of the support frame is kept substantially constant above the deck of the vessel, and wherein in a second mode, such as in a cargo transfer mode, the support frame is moved relative to the deck such that it is kept substantially stationary relative to a horizontal plane.
Keeping the vertical position of the support frame relative to the deck should be understood as at least meaning that a vertical distance between the support frame and the deck is kept substantially constant, measured in a vertical plane defined by a longitudinal axis of the gangway or boom and the load to be lifted, supported on the deck or a loading station of the vessel.
In a further aspect the disclosure can be characterized by the use of a motion compensating system, especially a movable support frame controlled by actuators and a drive unit for moving the support frame relative to a base, and either the support frame carrying a crane with a walking surface between a proximal and a distal end of a boom of said crane, a load connecting element supported by the distal end of the boom; or a gangway having a proximal and a distal end, with a load connecting element supported by the distal end, the proximal end being pivotably connected to the support frame, wherein the system is used in moving a load between a vessel and an off shore construction or vice versa and for moving personnel between a vessel and an off shore construction or vice versa.
It should be clear that alternatively the motion compensating system with the gangway or boom could be provided on the target area, i.e. e.g. an off shore construction, for transfer of loads and personnel to and from a ship, the motion compensating system and/or gangway and/or boom and/or load connecting element compensating for movements of the ship relative to said target area. For example by a suitable sensor system or an optical recognition system, registering vessel movement and a control unit designed for driving the system based on signals from said recognition system.
In this description a movable support frame should be understood as including any structure which can support a gangway and can be moved. A platform may be understood as a closed or open construction such as but not limited to relatively flat and closed or open surfaced construction which can be carried by actuators, such as hydraulic, pneumatic and/or electric rams, cylinders, magnetic drives or similar systems.
In this description gangway has to be understood as including but not limited to a construction having a longitudinal direction between a proximal and distal end, provided with a walking surface between at least the proximal end and at least the movable load support system provided at the distal end. A boom has to be understood as including but not limited to a construction having a longitudinal direction between a proximal and distal end, provided with line guide system for guiding a hoisting line along at least part of a longitudinal length of the boom, and at least the distal end of the boom.
As discussed the gangway or boom can be telescopic, comprising at least a proximal and a distal section, movable relative to each other in a longitudinal direction of the gangway or boom. Preferably locking elements, such as for example but not limited to locking pins and corresponding locking holes can be provided in the gangway or boom sections, with which locking elements at least in a cargo transfer mode the sections can be locked in a fixed longitudinal position relative to each other. For example in a position between a minimal and maximal telescopic length of the gangway, measure between the proximal and distal ends thereof. By locking the gangway or boom against telescopic movement, i.e. movement of the distal section relative to the proximal section forces acting on the gangway or boom can more easily be absorbed, without the distal section being forced longitudinally towards the support frame and without the at least one actuator provided for extending and retracting the gangway or boom in longitudinal direction having to bear the full forces resulting from tension in the hoisting line. Whereas the gangway or boom can be used for transferring a load with a longitudinal length larger that the minimal length, i.e. the fully retracted position. In embodiments locking elements can be provided and designed for locking the gangway in different longitudinal telescopic lengths.
In embodiments a vessel, or at least a motion compensating system can comprise a control unit designed for at least controlling movements of the gangway relative to the support frame, at least in a tilting movement. In the control unit preferably for both a personnel transfer mode and a cargo transfer mode a maximum downward tilting angle and a maximum upward tilting angle are set for the gangway or boom, relative to a horizontal position of the gangway or boom. Preferably at least the maximum upward tilting angle for the personnel transfer mode is smaller that the maximum tilting angle for the cargo transfer mode. Thus in a practical way undesired steep angles of the walking surface are prevented.
The disclosure further relates to a gangway for use in a system of platform or method according to the disclosure.
It shall be clear that combinations of the different embodiments and aspects thereof as here before described are also considered to have been disclosed specifically.
In further elucidation of the present disclosure embodiments of a system, method, platform and gangway will be described, with reference to the drawings, which are only shown in elucidation and should not be understood as limiting the disclosure in any way. In the drawings:
Fig. 1 shows schematically a vessel comprising a motion compensating system as disclosed;
Fig. 2 shows in side view schematically a motion compensating system in a cargo transfer mode, comprising a gangway, the gangway shown in two different positions carrying a load;
Fig. 3 shows in side view schematically a motion compensating system comprising a gangway in a personnel transfer mode, with a motion envelope for the gangway;
Fig. 4 shows schematically a motion compensating system comprising a gangway, in a stowage mode;
Fig. 5A - R show schematically eighteen steps in the use of a vessel as disclosed, in a people transfer mode;
Fig. 6A - ZA show twenty-seven steps in the use of a vessel as disclosed in a cargo transfer mode;
Fig. 7A - D show four steps in stowing a motion compensating system on a vessel;
Fig. 8 shows schematically an alternative motion compensating system with a crane having a boom with a walking surface;
Fig. 9 shows schematically parts of a motion compensating system with a control unit for driving and controlling the system;
Fig. 9A shows a distal end of a gangway with an alternative connection of a load connecting element; and
Fig. 10 shows schematically part of the system in a cargo transfer mode.
These figures and examples of embodiments are disclosed by way of example only and should by no means be interpreted as limiting in any way or form. In these drawings and description the same or similar reference signs are used for the same or similar aspects of the disclosure.
In this description wording like substantially should be understood as meaning that slight variations on a value, dimension or other property it refers to should also be considered allowable. For example but not limited to variations or deviations of up to 25% or at least up to 20%, such as but not limited to variations or deviations of up to 15%, more specifically up to 10%, such as for example up to 5%.
In this description a movable support frame or platform will be described by way of example only, which may be of the Steward or Ampelmann® type, having actuators carrying a platform. A Steward or Ampelmann® system as described hereafter commonly has a series of such actuators, for example six such actuators, but platforms can also be driven by a different number of actuators. A control unit is provided for controlling extension and retraction of the actuators lengthwise, in order to alter the position of the platform relative to a base which may be carried on a deck of a ship or another area. For the sake of convenience reference hereafter will be made to platform as an example of or forming part of a movable support structure.
In this description a vessel has to be understood as a floating device such as a ship, barge, pontoon or the like, which may be self propelled or be a towed device. A vessel is preferably a sea going vessel, suitable for off shore sailing.
The control unit can drive the actuators such that movement of the platform is controlled in order to keep the platform for example in a substantially horizontal orientation irrespective of any movements of the base, or at a desired position and/or orientation relative to a target area, which may be a fixed or movable construction such as for example an off shore construction or a ship. A gangway can be connected to the platform such that it can move with the platform. Additionally the gangway can be driven for movement relative to the platform, for example tilting and/or extension and retraction thereof in a longitudinal direction. Such is known from the Ampelmann® systems, such as for example described in W02012/021062 and will not extensively be discussed hereafter.
In this description a load should be understood as meaning at least non-human cargo, supplies and the like. Personnel should be understood as people.
In this description embodiments of a vessel 2 with a motion compensation system 1 will be described, comprising a support frame 3 and a gangway 4 pivotably connected to the support frame 3 via a proximal end 5 of the gangway 4. In the embodiment shown in fig. 1-4 the support frame 3 comprises a subframe 3A, rotatable around an axis X - X extending at an angle a relative to a main plane P of the support frame 3, for example defined by the upper gimbals or joints 26A of the actuators 26 carrying the support frame 3. The angle preferably is about 90 degrees, such that the axis X — X extends substantially as a normal to the plane P. The proximal end 5 of the gangway 4 is attached to the subframe 3A through a pivot axis 4A, which may for example extend substantially parallel to the plane P. The system 1 may be carried on a deck D of a vessel 2.
The gangway 4 has a distal end 6 spaced apart from the proximal end 5 in a longitudinal direction L of the gangway 4. The gangway 4 is provided with a walking surface 7 extending in the longitudinal direction L between the proximal end 5 and distal end 6. At least one actuator 8 is provided for pivoting the gangway 4 relative to the support frame 3. The support frame 3 may be or may comprise a platform, which can also be referred to by reference number 3. The system 1 is further provided with a hoisting assembly 9, comprising at least a load connecting element 10 such as a hook or clamp. The load connecting element 10 is supported from the distal end 6 of the gangway 4. The load connecting element 10 is designed for connecting to a load 11, such that the load can be lifted and transferred hanging from the gangway 4. In embodiments instead of a gangway a boom 4 of a crane (fig. 8) can be provided, pivotably connected to the support frame 3, wherein the walking surface 7 can be provided in or on the boom 4, extending between the proximal and distal ends 5, 6 thereof.
In embodiments the load connecting element 10 can be connected directly to the distal end 6 of the gangway 4, for example by a hook 12 provided at the gangway 4, or such hook can form the load connecting element 10. In the embodiments shown in for example fig. 1-9, the hoisting assembly 9 can comprise at least a hoisting line 13 supported by a guide element 14 near the distal end 6. The hoisting line 13 is provided with the load connecting element 10 for connecting to a load 11. A winch system 14 can be provided for the hoisting line 13. In use a load 11 can be hoisted with the system 1 using the hoisting line 13 and the gangway 4 as hoisting device 15.
The winch system 14 can comprise a winch 16 mounted in the gangway or boom 4, preferably beneath the walking surface 7. The hoisting line 13 can for example extend from the winch 16 partly through the gangway or boom 4, for example through or in between trusses 17 and partly just below the walking surface 7. In an alternative embodiment the hoisting line 13 can be guided differently, for example through a side or side guard or side rail 22 for the walking surface 7.
In the embodiments shown the gangway or boom 4 comprises a proximal section 18, comprising or connecting to the proximal end 5, and a distal section 19, comprising or connecting to the distal end 6. The distal section 19 can be designed to be received at least partly inside or over the proximal section 18, in order to form a telescoping gangway or boom 4, which can be extended and retracted in the longitudinal direction L, bringing the distal end 6 further away from the proximal end 5 or closer to it. An actuator 20 can be provided for initiating and controlling the telescopic movement of the gangway or boom 4. Moreover, bearing means 21 such as bearing wheels 22 can be provided between the two sections 18, 19, for bearing the distal section 19 slidably in the proximal section 18. In embodiments the actuator 20 for extending and/or retracting the gangway or boom 4 longitudinally can be designed differently. For example a motor with gearing can be used or a cable system can be provided driven for example by an actuator 20 at or near the frame 3 or subframe 3A or the proximal section 19, with which the telescoping of the boom or gangway 4 can be controlled.
In embodiments the gangway 4, especially the proximal and distal sections 18, 19 can be provided with locking provisions T, such as for example locking pins 30 which can fit into locking holes 31 (fig. 6D and fig. 9), or other suitable means for preventing longitudinal movement of the distal section 19 relative to the proximal section 18, when in a cargo transfer mode. The locking provisions T can be manually operated or mechanically or electronically operated. In embodiments several such provisions 30 and/or 31 can be provided, for locking the distal section 19 relative to the proximal section 18 in different longitudinal positions. Locking the gangway 4 in a fixed longitudinal length position by such locking provisions has the advantage that the locking provisions will absorb at least part and preferably most of the forces in the direction of the retracted position of the gangway 4 when supporting a load 11 from the hoisting line 13, the hoisting line 13 being connected to the winch 16 provided at the platform 3 or the proximal section 18 of the gangway or boom 4.
In the embodiments shown the hoisting line 13 is guided at least by a first sheave or guide block 23 or such first guide element or provision 23 at or near a distal end 24 of the proximal section 18. In a load transfer mode, as will be described, the hoisting line 13 is further guided by a second sheave or block or such second guide element or provision 25, such as the element 14, at or near the distal end 19A of the distal section 19 and thus at the distal end 6 of the gangway or boom 4. The hoisting cable 13 is preferably guided at least by the second guide element 25, 14 such that the line 13 can easily be removed from and mounted to it, such that the part of the hoisting line 13 connected to the load connecting element 10 can be released from the distal section 19 and can be stored on the proximal section 18, for example on a guard or side rail 22 thereof, as for example shown in fig. 5D. Thus in a personnel transfer mode, as will be described, movement of the distal section 19 relative to the proximal section 18 of the gangway or boom 4 is easily possible, without having to move the hoisting line 13 along. In embodiments the connecting element 10 can be released from the hoisting line 13, for separate storage. In embodiments in stead of removing the line 13 from the element 14, 25, the element 14, 25 can be released from the distal end 6 of the distal section 19, with the line 13, for storage for example on the proximal section 18 or the frame 3 or subframe 3A.
In the embodiment shown in for example fig. 1-7 and 9 the support frame or platform 3 is carried by six actuators 26, such as for example hydraulic, pneumatic, electric and/or magnetic actuators. These actuators are shown in the drawings, by way of example only, as piston-cylinder assemblies, especially hydraulic piston-cylinder assemblies. The actuators 26 are supported on a base 27 and are arranged in a known configuration, as for example used in the Ampelmann® system and as disclosed in for example NL 1027103, incorporated here in by reference for the disclosure of such systems. The motion compensating system 1 can have at least one partly passive pressure element 33 (schematically shown in fig. 9 as a single line) for supporting at least part of the weight of the support platform and the gangway or boom 4 carried by it. In embodiments each actuator 26 can be provided with such at least partly passive pressure element 33, for example integrated into the actuator 26 or provided substantially parallel to said actuator 26. Such systems are described for example in W02007/05Q080, incorporated here in by reference for the disclosure of such at least partly passive pressure elements. A control unit 28 is provided for example in the base 27, with which the actuators 26 can be driven in order to move the platform 3, including the subframe 3A, if applicable, relative to the base 27. The control unit 28 is or can be part of a drive unit 29 which may further include sensors (generally indicated by 34 in fig. 9) as known from for example the Ampelmann® system, for sensing movements of the vessel 2 relative to for example sea surrounding the vessel, a reference plane or GPS location, a near by off shore construction or such target area or any other suitable reference system or combinations of two or more of such references. Based on signals from such sensors and depending on for example a mode set in the drive unit 29, the actuators 8, 20 and/or 26 can be driven, in order to move the platform 3 and the gangway 4 relative to the reference system as desired. The subframe 3A and frame 3 can be provided with a suitable drive 35 for rotating the subframe 3A around the axis X - X. This drive 35 is also connected to the drive unit 29, especially the control unit 28. An operating unit 35 can be provided, for example at the support frame 3 or sub frame 3A, for operating the system 1, and especially for selecting different modes, such as for example a storage mode, a personnel transfer mode, a cargo transfer mode, a connecting mode and/or disconnecting mode for the system 1 and/or a free moving mode and/or pushing mode for at least the gangway 4.
In a free moving mode for the gangway 4 the actuators 8 and/or 20 of the gangway 4 may be deactivated for example in personnel transfer mode, such that the gangway can telescope freely and/or can pivot freely around the axis 4A. This can for example be useful when the distal end 6 is connected to a counter connecting device at a target area 36. Alternatively in stead of a free moving mode a “pushing mode” for the gangway could be provided for, in which the distal end 6 is actively pushed against a target area 36, especially by activating the piston 20 in a direction of extension of the gangway or boom 4.
In a storage or stowing mode as for example shown in fig. 4, 5A, 5R, 6A and 6Z and Za and fig. 7D the actuators 26, 8 and 20 may be deactivated, for example pressure released, and the distal end 6 of the gangway or boom 4 may rest on the deck D or on a station 37, for example a loading station or a docking station 37. In the storage position the walking surface 7 of the boom or gangway 4 is easily accessible for personnel from the deck D or station 37, as shown for example in fig. 5B and F and 6B or to the deck D, as for example shown in fig. 5R.
From the storage mode the drive system 29 can be used to activate the system 1 and especially to pressure the actuators 26, 8, 20, in order to bring the system 1 in an operating mode.
In a primary or transfer mode, both in a personnel transfer mode and in a cargo transfer mode, for example the drive unit 29 can be set to drive the platform 3 in six degrees of freedom, such that it is kept substantially stationary relative to for example a reference system other than the vessel 2, more specifically for example a target area 36 spaced apart from the vessel 2, such as a target area 36 on an off shore construction 37 to which or from which personnel or cargo has to be transferred. Substantially stationary can for example be understood, but is not limited to that the plane P is kept in a substantially horizontal position, irrespective of movement of the vessel 2 on the water 38 in one or more degrees of freedom. This means that the boom or gangway 4 will be held substantially stationary too or at least can easily be adjusted in length and/or inclination in order to bring and hold the distal end 6 in a relatively stable position relative to the target area 36, as for example shown in fig. 5 L and M for the personnel transfer mode and fig. 6 T - V in cargo transfer mode. A relatively stable position should in this respect be understood as meaning at least that there is relatively little movement of the distal end 6 relative to the target area 36, preferably at least in any horizontal direction, and preferable almost no such movement, such that a safe transfer of personnel between the target area 36 and the walking surface 7 or vice versa is possible in personnel transfer mode or safe positioning of cargo on the target area or picking up of cargo from the target area 36 is possible in cargo transfer mode.
Fig. 5 shows in eighteen steps a personnel transfer mode. The steps are not necessarily shown in order of operation of the mode.
The personnel transfer mode can be set by the control or operating unit 35, as shown in fig. 5E, by an operator who can mount the system via the walking surface 7, as shown in fig. 5B. In this mode any locking provisions T, 30, 31 for locking telescoping of the boom or gangway 4 preferably has to be released, if engaged, as shown in fig. 5C, allowing telescoping of the boom or gangway 4. Preferably the line 13 is released from the distal section 19 and stored on the gangway 4, especially on the proximal section 18, as shown in fig. 5C.
In the personnel transfer mode transferring personnel from the vessel 2 to the target area 36, personnel can mount the boom or gangway 4, as shown in fig. 5F and wait on the platform 3. Then the actuators 26 may be pressurized such that the platform is raised, as shown in fig. 5G, and the gangway or boom 4 may be raised by the actuator 8, as shown in fig. 5H. Then the boom or gangway 4 can be swiveled outward by rotating the subframe 3 relative to the platform 3 and/or rotating the platform 3, as shown in fig. 51. During the initial procedure of lifting and swiveling the boom or gangway full compensation of the six degrees of freedom is not necessary. During this initial procedure therefore the system may be driven with less degrees of freedom, for example one only, pushing the platform 3 up, away from the deck D, initiating the swivel action of the gangway 4 and rotating the sub frame 3A respectively.
The system 1 may during or after this initial procedure be brought into the transfer mode phase in which it fully compensates for six degrees of freedom, as shown in fig. 5J. The boom or gangway 4 may be pivoted around the axis 4A by actuator 8 and/or telescoped, i.e. extended and/or retracted by actuator 20, as shown in fig. 5K and L, in order to bring the distal end 6 onto the desired position relative to the target area 36, as shown in fig. 5M. If desired in this position the gangway could be brought into the free moving mode or in the pushing mode, or the distal end 6 can be held stationary by movement of the further movement compensating system, especially the actuators 26 and frame 3, 3A.
After the personnel P has been transferred to the target area and/or personnel P has mounted the platform 3 via the walking surface 7 in opposite direction, the distal end 6 can be lifted of the target area and the boom or gangway 4 can be swiveled back, as shown in fig. 5N. After the distal end 6 has been lifted from the target area and brought out of reach of said area 36, full compensation is no longer necessary. The system 1 can thus be brought into a phase in which less movements are compensated. Indeed the actuators 26 carrying the platform 3 may be deactivated, as shown in fig. 50. The boom or gangway 4 is rotated back to a position above the deck D, preferably such that the distal end 6 is again above the station 37, as shown in fig. 5P, where after the boom or gangway 4 is swiveled down to the storage position as shown in fig. 5Q, after which the whole system can be brought into the storage mode and the operator can leave the system via the walking surface 7, as shown in fig. 5R.
In a secondary or cargo transfer mode cargo, such as loads 11 can be lifted off the deck or a loading station 37 and transferred to a target area 36 or vice versa using the boom or gangway 4 as a hoisting device 15.
When transferring cargo preferably the actuator 20 for extending and retracting the telescoping gangway or boom 4 is disconnected or at least made pressure free. Preferably the gangway or boom is locked against extension or retraction longitudinally, for example by locking provisions T as discussed.
The cargo transfer mode preferably comprises a connecting and/or disconnecting mode and a load transfer mode.
In the connecting and disconnecting mode the distal end 6 of the boom or gangway 4 is preferably kept substantially stationary above the deck D or at least relative to the load 11. In this connecting and disconnecting mode for example the drive unit 29 can be set to drive the actuators 26 such that less than six degrees of freedom are compensated, for example five degrees of freedom. Preferably the drive system 29 is set to keep the height H of the support frame 3 above the deck constant, whereas the longitudinal direction, in fig. 9 shown as the longitudinal axis A of the boom or gangway 4, is kept in a vertical plane V, irrespective of the angle 6 at which the boom or gangway 4, in fig. 10 shown by its longitudinal axis A, relative to the plane P, in fig. 10 shown by the horizontal line B extending through the axis 4A and/or the axis X - X. The line 13 will, due to gravity, also extend in said vertical plane V. Thus compensation for vessel movements is used, but not in all directions cq degrees of freedom. In this connecting and/or disconnecting mode the advantage can be achieved that the line 13 is kept vertical, such that it does substantially not sway, which makes connecting it to the load 11 and disconnecting it from a load 11 safer and easier. Moreover, the line length does not have to be adjusted during connecting and disconnecting the load connecting element 10 to or from the load 11, since the distal end 6 is kept at a relatively constant height above the load 11 too. A further advantage is that upon initial lifting of the load off the deck D or station 3 and/or directly prior to setting it down in the deck D or station 37 the load 11 will move only vertically, without movement relative to the deck other than in the up or down direction. This will also prevent dangerous swaying of the load 11.
Fig. 6 shows twenty-seven steps of a cargo transfer mode, including a connecting and/or disconnecting mode. The steps are not necessarily shown in order of operation of the mode.
Fig. 6A shows the system 1 in storage mode. The actuators have been deactivated. In fig. 6B an operator mounts the system via the walking surface 7. The system may be activated as shown in fig. 6C and brought into a position similar to fig. 5B, the distal end 6 resting on a deck D or loading station or docking station 37. Then the operator engages the locking provisions T, 30, 31, if applicable, for example manually or automatically by switching the system to the cargo transfer mode by the unit 35. This locks the boom or gangway 4 in a predetermined longitudinal length L. The hoisting line 13 and/or load connecting element 10 are released from the storage position, for example at the proximal section 19, as shown in fig. 6E and is positioned over the element or block 14, 25 at the distal end 19A of the distal section 19 and thus at the distal end 6 of the boom or gangway 4.
If not already provided, the load connecting element 10, here shown as a hook 10, is connected to the line 13, as shown in fig. 6G. As a safety check the operator may check the locking provisions T, as shown fig. 6H, and the system can be brought into the cargo transfer mode by the unit 35, as shown in fig. 61.
The angle 6 of the boom or gangway 4 can be adjusted to a desired angle, for example between -30 to + 80 degrees, for example between minus 10 and plus 65 degrees, as shown in fig. 6J. The distal end 6 is brought directly above the load 11, as shown in fig. 6K, such that the load connecting element 10 is directly above the load 11, as shown in fig. 6L, preferably directly, i.e. vertically above a center of gravity of the load 11.
Prior to or during the connecting mode cq phase, as for example schematically shown in at least fig. 6J - 6L, the system is driven in less than six degrees of freedom, preferably five degrees of freedom, such that the height H of the support frame 3 is kept substantially constant, but the support frame 3, or at least the plane P is kept in a fixed position, at least relative to a horizontal plane and preferably in a horizontal position, and preferably also in a fixed position relative to the load 11. When the angle 6 of inclination of the boom or gangway 4 and the length L of the boom or gangway 4 is kept constant too, the distal end 6 can thus easily be kept relative fixed directly vertically above the load 11. The system switch into five degrees of freedom is schematically indicated by fig. 6M.
During the period that the system is driven in five degrees of freedom the load connecting element 10 is connected to the load 11, as shown in fig. 6N. Then the load 11 can be lifted off the deck D or station 37, for example by raising the height H, as shown in fig. 60. Preferably the load is hoisted further up, towards the boom or gangway 4, preferably reducing the length of line between the element 14, 25 and the load to a minimum, as shown in fig. 6P. There after the system is switched to full compensation mode, compensating for six degrees of freedom, as schematically indicated by fig. 6Q. Thus the support frame 3 and, if applicable, the sub frame 3A are kept in a substantially stationary position relative to the target area 36.
From this position the boom or gangway 4 carrying the load 11 can be swiveled outward, by rotation of the sub frame 3A and/or the platform 3, as shown in fig. 6R, to a position in which the distal end 6 and the load 11 are above the target area 36, as shown in fig. 6S. Then the distal end 6 can be held stationary relative to the target area 36 and the load 11 can be lowered onto the target area 36, as shown in fig. 6T and 6U. Then the load connecting element 10 can be released from the load, as shown in fig. 6V. When released the connecting element 10 can lifted upward by the hoisting line 13 and winch 16 and/or by increasing the angle 6 and/or lifting the platform 3, as shown in fig. 6W, and the boom or gangway 4 can be swiveled back to a positon above the deck D, as shown in fig. 6X. Then the platform can be brought for example in a neutral position and kept stationary relative to the deck D, as shown in fig. 6Y. The distal end 6 of the gangway or boom 4 can then be lowered onto the deck or station 37, as shown in fig. 6Z, after which the actuators 26 can again be released of pressure, bringing the platform down, as shown in fig. 6ZA, bringing the system into a storage mode.
It shall be clear that when transferring cargo from the target area to the vessel the same steps can be followed, be it in a different order, wherein the system is driven for compensation of five degrees of freedom at least after the load 11 cq cargo has been lifted off the target area 36 and preferably after the gangway or boom 4 has been swiveled back to a position extending above the deck D of the vessel.
During transfer the angle 6 of the boom or gangway 4 does not have to be altered, although obviously this could be altered if desired. By not having to alter the angle the advantage can be obtained of improved safety, less forces acting on the actuators 8, 20 and less complex control of the different components.
When stowing the system as show in in fig. 7 preferably the load connecting element 10 may be removed (fig. 7A), the hoisting cable may be removed from the distal section 19 and stowed on the proximal section 18( fig. 7B), where after the locking provisions T may be released (fig. 7C) where after the operator may leave the system and the system may be deactivated, i.e. the pressure my be released from the system (fig. 7D).
Depending on the mode (cargo transfer or people transfer) different components may be used. For example the winch system 14 with the hoisting line 13 and the load connecting elements may be removable for the personnel transfer mode.
As shown in fig. 9 schematically, a sensor 41 can be provided, for example near the proximal end 5 of the gangway, especially near the proximal end of the walking surface 7. This sensor can be coupled to the control unit and can be used for detecting personnel on or approaching the walking surface 7, such that the system 1 can be prevented from for example moving the boom or gangway 4, especially in the cargo transfer mode, when such personnel is detected. The sensor can for example be an approach or movement sensor, a weight sensor such as a load cell or any other suitable sensor. This can prevent personnel being present on the walking surface 7 during the cargo transfer mode. A sensor 42 could be provided for sensing the weight of the load, load distribution and the like, such that an overload or improper loading of the system, especially the boom or gangway can be prevented. In fig. 9 such sensor 42 is shown as a load cell at the element 14, 25 guiding the hoisting line 13. A further sensor 43 can be provided, for measuring the angle 6. In the control unit preferably threshold values can be set for a minimum and maximum angle, such that it can be prevented that the angle becomes to large in either direction (up or down). In embodiments the threshold values can be set dependent on the load 11.
Additionally or alternatively a guard, such as a gate 45 can be provided at the proximal end 5 of the walking surface 7, which is closed when the system is brought into the cargo transfer mode, thus preventing personnel to enter onto the walking surface.
The distal end of the boom or gangway 4 may be provided with a landing unit for connecting to the target area 36, which may be connectable to a counter landing unit or connecting element (not shown) at the target area, which can be used for the free movement mode of the gangway or boom 4 as discussed and/or in the pushing mode as discussed. A load support system can be provided at the distal end 6, for example a platform, movable relative to the walking surface 7, for supporting a further load.
The gangway preferably comprises a supporting structure 17A, at least partly below the walking surface, at least seen in side view, which may comprise trusses 17 for increased strength at minimal weight. The hoisting line 13 may extend at least partly through said structure 17A.
Fig. 8 schematically shows an alternative embodiment of a system 1, in which a crane 100 is provided, supported on or integral with or forming a support frame 3. The support frame 3 is carried or supported by at least three actuators 26, for keeping a mast 103 of the crane 100 upright, i.e. in a substantially vertical position. In this embodiment the actuators may be designed to tilt the mast relative to the deck D in all directions only, or can be designed to for example also rotate and/or lift the mast 103. In this embodiment a subframe 3A is provided such that it can move relative to the mast 103, up and down, indicated by the arrow U, and/or rotating round the mast 103, indicated by arrow W. A boom 4, similar to the gangway or boom 4 according to fig. 1-7 and 9, is connected to the subframe 3A, pivotable round an axis 4A at the proximal end 5 of the boom 4. Again the crane can be used in a personnel transfer mode and a cargo transfer mode, ads described before.
In this embodiment preferably the distal end 6 of the boom 4 is connected to the target area 36 in the personnel transfer mode, and brought in the free moving mode of the boom 4, as discussed here before, or in the pushing mode, again as discussed here before. During transfer of personnel or cargo the subframe 3A can be rotated and moved up and down, such that six degrees of freedom can be compensated for, whereas in a connecting and/or disconnecting mode, again the system is driven to compensate for five degrees of freedom only, keeping the sub frame 3A in a fixed height H above the deck D and keeping the mast 103 and the longitudinal axis A of the boom 4 in a vertical plane, again as discussed before with reference toi fig. 1 - 7, 9 and 10.
In fig. 8 the lower end of the mast 103 is shown mounted on a platform 3 carried by six actuators 26 as discussed before. This allows for movement of the mast in six degrees of freedom too, if desired, whereas the height H can be adjusted, for example for compensation for height differences between the vessel deck D and the target area 36. In other embodiments the lower end of the mast 103 can be mounted differently, for example pivotably connected to the deck D or to a base 27 mounted on the deck D, wherein for example three actuators 26 can be provided between said deck or base 27 and the mast 103, preferably regularly spaced around said mast 103, for moving it in a tilting direction relative to said pivot mounting. Thus the mast 103 can be tilted in all directions by driving the actuators 26, whereas the sub frame with the boom 4 can be moved for adjusting the height H, keeping the subframe 3A substantially in a fixed height relative to the target area, whereas differences in distance between the subframe 3A and the target area can be compensated for by the telescoping boom, at least in a personnel transfer mode. In cargo transfer mode the distal end 6 may be moved in order to keep it substantially stationary in at least horizontal directions by altering the angle 6 of the boom, in order to compensate for tilting of the mast 103, wherein preferably the subframe 3A may be held close to the deck D, in order to minimize horizontal movements of the subframe 3A during such tilting.
The invention is by no means limited to the embodiments as shown and/or described in this description. Many variations thereof are possible within the scope of the claims, including at least all combinations of parts and elements of the embodiments and parts thereof shown, in any combination or permutation. For example the boom of fig. 8 can be a replaced by a gangway 4 according to any one of fig. 1 - 7 or 9 or 10 or vice versa.
These and other alterations and modifications are supposed to be disclosed within the scope of the claims.
Claims (32)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL2015891A NL2015891B1 (en) | 2015-12-01 | 2015-12-01 | System and method for transfer of cargo and/or personnel. |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL2015891A NL2015891B1 (en) | 2015-12-01 | 2015-12-01 | System and method for transfer of cargo and/or personnel. |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| NL2015891B1 true NL2015891B1 (en) | 2017-06-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| NL2015891A NL2015891B1 (en) | 2015-12-01 | 2015-12-01 | System and method for transfer of cargo and/or personnel. |
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| Country | Link |
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| NL (1) | NL2015891B1 (en) |
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| WO2022031165A1 (en) * | 2020-08-03 | 2022-02-10 | Ampelmann Holding B.V. | A telescopic gangway, a motion compensated gangway and a vessel |
| WO2022177430A1 (en) | 2021-02-19 | 2022-08-25 | Barge Master Ip B.V. | Offshore assembly comprising a motion compensation platform carrying an object with a height of 30-50 meters or more, motion compensation platform, as well as use of the assembly |
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